Clean it up and see if it’s still usable. Dirty doesn’t mean it’s worn out.
Loose, binding, or otherwise worn out slip splines would indicate a new driveshaft in your future.
U-joints are replaceable. All three.
Otherwise, that’s just a standard front (or rear, depending upon length) bronco driveshaft.
Almost universally regarded as a “double-cardan style shaft” because of the 2 U-joints held together by a yoke and centering ball at the end for the transfer case.
Does your transfer case still have the appropriate yoke?